Capacity Based Vehicle Operation

ABSTRACT

Systems, methods, and vehicles for capacity based vehicle operation are provided. For example, a method can include receiving, by a computing system including one or more computing devices, object data based in part on one or more states of one or more objects. Based in part on the object data, the computing system can determine one or more features of the one or more objects. Based on a comparison of the one or more features of the one or more objects to a vehicle capacity criterion, the one or more objects that satisfy the vehicle capacity criterion can be determined. The vehicle capacity criterion can be based in part on a carrying capacity of an autonomous vehicle. In response to the one or more objects satisfying the vehicle capacity criterion, one or more control systems associated with operation of the autonomous vehicle can be activated by the computing system.

FIELD

The present disclosure relates generally to operation of an autonomousvehicle which can be based on a capacity of the autonomous vehicle.

BACKGROUND

Vehicles, including autonomous vehicles, can be equipped with a varietyof vehicle control systems that can be used to operate the vehicle. Thevehicle control systems can be coupled with a variety of sensors thatallow the autonomous vehicle to perform activities including navigatingits environment. However, the environment in which the autonomousvehicle operates can vary over time, as can the ways in which theautonomous vehicle is operated within that environment. As such, thereexists a need for an autonomous vehicle that is able to effectivelyadapt to its environment and the demands placed upon the autonomousvehicle by that environment.

SUMMARY

Aspects and advantages of embodiments of the present disclosure will beset forth in part in the following description, or may be learned fromthe description, or may be learned through practice of the embodiments.

An example aspect of the present disclosure is directed to acomputer-implemented method of operating an autonomous vehicle. Thecomputer-implemented method of operating an autonomous vehicle caninclude receiving, by a computing system comprising one or morecomputing devices, object data based in part on one or more states ofone or more objects. The method can further include determining, by thecomputing system, based in part on the object data, one or more featuresof the one or more objects. The method can further include, determining,by the computing system, based on a comparison of the one or morefeatures of the one or more objects one or more vehicle capacitycriteria, that the one or more objects satisfy the one or more vehiclecapacity criteria, wherein the one or more vehicle capacity criteria arebased in part on a carrying capacity of an autonomous vehicle. Themethod can also include, responsive to the one or more objectssatisfying the one or more vehicle capacity criteria, activating, by thecomputing system, one or more control systems associated with operationof the autonomous vehicle.

Another example aspect of the present disclosure is directed to one ormore tangible, non-transitory computer-readable media storingcomputer-readable instructions that when executed by one or moreprocessors cause the one or more processors to perform operations. Theoperations can include receiving object data based in part on one ormore states of one or more objects. The operations can further includedetermining, based in part on the object data, one or more features ofthe one or more objects. The operations can further include,determining, based on a comparison of the one or more features of theone or more objects to one or more vehicle capacity criteria, that theone or more objects satisfy the one or more vehicle capacity criteria,wherein the one or more vehicle capacity criteria are based in part on acarrying capacity of an autonomous vehicle. The operations can alsoinclude, responsive to the one or more objects satisfying the one ormore vehicle capacity criteria, activating, one or more control systemsassociated with operation of the autonomous vehicle.

Another example aspect of the present disclosure is directed to anautonomous vehicle comprising one or more processors and one or morenon-transitory computer-readable media storing instructions that whenexecuted by the one or more processors cause the one or more processorsto perform operations. The operations can include receiving object databased in part on one or more states of one or more objects. Theoperations can further include determining, based in part on the objectdata, one or more features of the one or more objects. The operationscan further include, determining, based on a comparison of the one ormore features of the one or more objects to one or more vehicle capacitycriteria, that the one or more objects satisfy the one or more vehiclecapacity criteria, wherein the one or more vehicle capacity criteria arebased in part on a carrying capacity of an autonomous vehicle. Theoperations can also include, responsive to the one or more objectssatisfying the one or more vehicle capacity criteria, activating, one ormore control systems associated with operation of the autonomousvehicle.

Other example aspects of the present disclosure are directed to othersystems, methods, vehicles, apparatuses, tangible non-transitorycomputer-readable media, and devices for capacity based vehicleoperation.

These and other features, aspects and advantages of various embodimentswill become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the present disclosure and, together with thedescription, serve to explain the related principles.

BRIEF DESCRIPTION OF THE DRAWINGS

Detailed discussion of embodiments directed to one of ordinary skill inthe art are set forth in the specification, which makes reference to theappended figures, in which:

FIG. 1 depicts a diagram of an example system according to exampleembodiments of the present disclosure;

FIG. 2 depicts a diagram of an environment including an example ofidentity determination by a vehicle control system according to exampleembodiments of the present disclosure;

FIG. 3 depicts a diagram of an environment including an example ofactivating a vehicle access system according to example embodiments ofthe present disclosure;

FIG. 4 depicts a diagram of an environment including an example ofdetermining an order of ingress or egress according to exampleembodiments of the present disclosure;

FIG. 5 depicts a flow diagram of an example method of capacity basedautonomous vehicle operation according to example embodiments of thepresent disclosure;

FIG. 6 depicts a flow diagram of an example method of capacity basedautonomous vehicle operation according to example embodiments of thepresent disclosure;

FIG. 7 depicts a flow diagram of an example method of capacity basedautonomous vehicle operation according to example embodiments of thepresent disclosure; and

FIG. 8 depicts a diagram of an example system according to exampleembodiments of the present disclosure.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments, one or moreexamples of which are illustrated in the drawings. Each example isprovided by way of explanation of the embodiments, not limitation of thepresent disclosure. In fact, it will be apparent to those skilled in theart that various modifications and variations can be made to theembodiments without departing from the scope or spirit of the presentdisclosure. For instance, features illustrated or described as part ofone embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that aspects of the presentdisclosure cover such modifications and variations.

Example aspects of the present disclosure are directed to the operationof a vehicle including an autonomous vehicle, a semi-autonomous vehicle,or a manually driven vehicle. The operation of the vehicle can be basedon the carrying capacity of the vehicle (e.g., a maximum weight thevehicle can safely carry) in relation to features or characteristics ofone or more objects (e.g., the weight, mass, or volume of passengers orcargo) associated with the vehicle. For example, the autonomous vehiclecan include one or more sensors (e.g., a sensor suite of one or moredifferent sensors) that can detect the environment inside the autonomousvehicle and external to the autonomous vehicle. In particular, the oneor more sensors can be used to determine the state (e.g.,characteristics) of the vehicle and objects external to the vehicle. Forexample, based on changes in the state of the environment, the one ormore sensors can generate signals or data that can be used determine thenumber of passengers outside a vehicle or the total mass or weight ofpassengers inside the vehicle. Further, the vehicle can include avehicle computing system that can control various vehicle systems andcomponents including notification systems (e.g., systems that provideinstructions to passengers) and vehicle access systems such as thoseused to regulate access into or from the vehicle (e.g., systems thatcontrol locking or unlocking vehicle doors).

The vehicle control system can be used to perform actions (e.g., openingvehicle doors or activating vehicle cabin lights) based on a comparisonbetween a determined quantity (e.g., an estimated mass, weight, orvolume based on data from sensors) of one or more objects external tothe vehicle and a carrying capacity of the vehicle. Further, thedisclosed technology can adjust the available carrying capacity of thevehicle based on the state of the passengers or the state of a route thevehicle will travel. In this way, the disclosed technology candynamically perform actions so that passengers or other objects enteringthe vehicle do not exceed the vehicle's carrying capacity.

The vehicle control system can process or generate data, including databased on signals or data received from various vehicle systems orvehicle components. Furthermore, the vehicle control system can exchange(send or receive) signals or data with various systems or componentsinside the vehicle and external to the vehicle. For example, the vehiclecontrol system can exchange signals or data with vehicle systemsincluding sensor systems (e.g., optical sensors, audio sensors, ortactile sensors), communication systems (e.g., wireless communicationsystems), navigation systems (e.g., GPS or other systems used todetermine a vehicle's location), notification systems (e.g.,touch-screen LCD displays or loudspeakers), propulsion systems (e.g.,engines), and vehicle access systems (e.g., used to control accessthrough doors or windows).

The vehicle control system can receive object data based in part on oneor more states of one or more objects including potential passengers orcargo. For example, the object data can include indications of variousstates or conditions of the potential passengers or cargo that can beassociated with the vehicle. The object data can describe physicalproperties or identifiers associated with the potential passengers orcargo. The physical properties can be associated with various aspects ofthe potential passengers or cargo including appearance, sound, mass, orweight. The identifiers can be associated with aspects of the passengersor cargo including physical properties, names, or data associated withthe passengers or cargo (e.g., authentication or access codes). Theobject data can be based on outputs including sensor output from one ormore sensors of the vehicle. The sensors can detect the state of theenvironment inside and outside the vehicle and can include an opticalsensor including a light detection and ranging device (LIDAR); an audiosensor, a pressure sensor; a mass sensor; a weight sensor; a tactilesensor; a temperature sensor; or an electromagnetic sensor.Additionally, the object data can be based on access output (e.g., apasscode) from a vehicle access system (e.g., a security devicerequiring the passcode to unlock a vehicle door). Further, the vehicleaccess system can include a human-computer interface system that canreceive input related to the identity or characteristics of thepassengers or cargo. For example, the vehicle can include an interfacefor user input that can be used to enter the identity of a passenger inorder to gain entry into the vehicle. Object data can also be receivedfrom other systems including remote computing devices (e.g., datareceived from a remote server device through a computer network).

The vehicle control system can determine, based in part on the objectdata, one or more features of the one or more objects. Features of theone or more objects can include any portion of the object data,including combinations of portions of the object data. The vehiclecontrol system can process the object data including generatinginferences, estimates, or predictions based on the object data, whichcan then be used to generate the one or more features of the one or moreobjects. In other words, the vehicle control system can infer, estimate,or predict physical properties of the passengers or cargo based on theobject data. For example, the vehicle control system can determine themass or weight or number of passengers or cargo based on the appearanceof the passenger or cargo obtained from an image capture device. Assuch, the vehicle control system can determine one type of physicalproperty (e.g., mass or weight) based on another type of physicalproperty (e.g., appearance)

The vehicle control system can determine, based on a comparison of theone or more features of the one or more objects to one or more vehiclecapacity criteria, whether the one or more objects satisfy the one ormore vehicle capacity criteria. The one or more vehicle capacitycriteria can be used to determine whether a quantity (e.g., mass,weight, or volume) of one or more objects (e.g., passengers or cargo)can be carried by the vehicle. The one or more vehicle capacity criteriacan be based on the one or more features of the one or more objects,including physical properties of the one or more objects or electronicfeatures (e.g., a passcode to gain access to the vehicle). For example,the one or more features or the one or more vehicle capacity criteriacan include a number of the one or more objects (i.e., how many of theone or more objects there are), one or more identities of the one ormore objects, a weight or mass of the one or more objects, adistribution throughout the vehicle of the weight or mass of the one ormore objects, a volume of the one or more objects, an electrostaticcapacitance of the one or more objects, or a shape of the one or moreobjects.

In response to the one or more objects satisfying the one or morevehicle capacity criteria, the vehicle control system can activate oneor more control systems associated with operation of the vehicleincluding activating a vehicle access system; a vehicle notificationsystem including visual, audio, or tactile notifications; a vehiclecommunication system; or a vehicle propulsion system. For example,activating control systems associated with operation of the vehicle caninclude opening, closing, locking, or unlocking vehicle entrances (e.g.,passenger doors, windows, or trunk doors); initiating travel of thevehicle to a destination location; or generating a visual, audio, ortactile indication (e.g., activating a light on a seat to indicate anavailable vehicle seat to a passenger).

In some implementations, activating the vehicle access system caninclude determining whether a spatial relationship (e.g., a distance orrelative position) between the one or more objects, an entrance to thevehicle (e.g., a door or window), or a loading location (e.g., a loadingzone for cargo, a sidewalk area where passengers are waiting) externalto the vehicle satisfies one or more access criteria. The one or moreaccess criteria may be based, in part, on a threshold distance betweenthe entrance and the loading location, a threshold distance between theentrance and the one or more objects, or an orientation of the entrancerelative to the loading location. For example, the one or more accesscriteria can require a particular orientation of a vehicle entrance(e.g., door) so that it is adjacent to a sidewalk can be used to ensurethat passengers can only enter the vehicle from the sidewalk and notfrom a busy street.

In response to the spatial relationship satisfying the one or moreaccess criteria, access to the vehicle can be modified. Modifying accessto the vehicle can be based on actions that limit or facilitate accessto the vehicle include locking the entrance, unlocking the entrance,opening the entrance, closing the entrance, activating a passengerrestraint system (e.g., seatbelt), or deactivating a passenger restraintsystem.

To better accommodate a variety of external circumstances, the vehiclecan receive data including capacity adjustment data that can be used toadjust the one or more vehicle capacity criteria. For example, thevehicle can receive capacity adjustment data that comprises a route forthe vehicle to travel, topographical conditions (e.g., elevationchanges), road conditions (e.g., conditions of the road surface), orweather conditions along the route. The capacity adjustment data can bereceived from various sources including local sources (e.g., onboardsensors of the vehicle) and remote sources (e.g., remote weathermonitoring servers). The vehicle control system can modify the one ormore vehicle capacity criteria based on the capacity adjustment data.For example, capacity adjustment data indicating heavy rainfall orsnowfall can be used to reduce the maximum weight allowable under theone or more vehicle capacity criteria.

The vehicle control system can determine, based in part on the one ormore features, one or more identities and corresponding object locationsof the one or more objects. The one or more features can include uniqueidentifiers (e.g., fingerprint) or general types (e.g., adult) that canbe used to determine the one or more identities (e.g., personal names)associated with the one or more objects. The corresponding objectlocations can include the location (e.g., an absolute location or arelative location) of the one or more objects associated with thecorresponding one or more identities. For example, the vehicle controlsystem can determine the names and locations, relative to the vehicle,of three awaiting passengers.

The vehicle control system can generate, based in part on one or moreobject placement criteria, the one or more identities, and thecorresponding object locations, one or more placement indicationscomprising instructions for directing movement of the one or moreobjects to one or more assigned locations in the vehicle. The one ormore object placement criteria can include various criteria for thelocation of the one or more objects inside a vehicle including wherepassengers or cargo are to be located relative to the vehicle or toother passengers or cargo. For example, the vehicle control system canprovide audio instructions in the form of spoken directions of where inthe vehicle an identified passenger should sit.

In some implementations, the one or more object placement criteria canbe based in part on the order of ingress or egress for the one or moreobjects. As such, the vehicle control system can determine, based on theone or more identities and corresponding object locations, an order ofingress or egress for the one or more objects. For example, the one ormore object placement criteria can be established so that adults exitthe vehicle first in order to assist minors exiting the vehicleafterwards. In this way, the vehicle control system can facilitate moreconvenient, and safe, entry or exit from the vehicle.

The systems, methods, and devices in the disclosed technology canprovide a variety of technical effects and benefits. For example, thedisclosed technology can offer enhanced operational safety by regulatingthe amount (e.g., mass, weight, or number) of passengers or cargo thatare in a vehicle. Regulation of the amount of passengers or cargo can beperformed through comparison to a vehicle carrying capacity threshold,thereby avoiding instances of overcrowding or overloading of availablevehicle carrying space. Further, by adjusting the load carried by thevehicle in response to environmental conditions (e.g., snow or rain),performance characteristics of the vehicle can be improved, which canresult in safer vehicle handling, braking, or acceleration.

Further, the disclosed technology can improve the operation of thevehicle itself by regulating the load on the vehicle. Preventingsituations in which the vehicle's carrying capacity is exceeded canresult in less wear and tear on various vehicle components and systems.For example, regulating the load can result in less engine strain,thereby leading to less engine maintenance. Further, by regulating theload on the vehicle, the risk of component failure, especiallycatastrophic component failure, can be significantly reduced.Additionally, by maintaining loads within a designated vehicle carryingcapacity, the vehicle can realize the benefit of improved fuelefficiency.

By determining, in advance of passengers or cargo entering the vehicle,an available vehicle capacity, the disclosed technology can reducedown-time that results from inefficient loading or off-loading ofpassengers or cargo at a loading location. For example, a vehicle withcapacity for one additional passenger can send a signal to dispatchadditional vehicles to the pick-up location to accommodate additionalpassengers that may be waiting at a pick-up location.

Additionally, the disclosed technology can improve the safety ofpassengers or cargo by regulating conditions inside the vehicleincluding improved placement of passengers or cargo inside the vehicle.For example, the disclosed technology can improve operation of thevehicle by reducing the occurrence of situations in which passengers arenot safely situated within the vehicle (e.g., passengers seated on thelaps of other passengers). Further, the determination of passenger orcargo locations within a vehicle cabin can facilitate safer pick-up ordrop-off of passengers or cargo by aligning entryways with safer loadinglocations (e.g., entering the vehicle via a sidewalk instead of via abusy street).

Accordingly, the disclosed technology provides more effective use of avehicle's available capacity through improvements in safety andefficiency as well as improved operation of the vehicle by way of betterhandling and reduced wear and tear on vehicle components.

With reference now to FIGS. 1-8, example embodiments of the presentdisclosure will be discussed in further detail. FIG. 1 depicts a diagramof an example system 100 according to example embodiments of the presentdisclosure. The system 100 can include a plurality of vehicles 102; avehicle 104; a vehicle computing system 108 that includes one or morecomputing devices 110; one or more data acquisition systems 112; anautonomy system 114; one or more control systems 116; one or more humanmachine interface systems 118; other vehicle systems 120; acommunications system 122; a network 124; one or more image capturedevices 126; one or more sensors 128; one or more remote computingdevices 130; a communication network 140; and an operations computingsystem 150.

The operations computing system 150 can be associated with a serviceprovider that provides one or more vehicle services to a plurality ofusers via a fleet of vehicles that includes, for example, the vehicle104. The vehicle services can include transportation services (e.g.,rideshare services), courier services, delivery services, and/or othertypes of services.

The operations computing system 150 can include multiple components forperforming various operations and functions. For example, the operationscomputing system 150 can include and/or otherwise be associated with oneor more remote computing devices that are remote from the vehicle 104.The one or more remote computing devices can include one or moreprocessors and one or more memory devices. The one or more memorydevices can store instructions that when executed by the one or moreprocessors cause the one or more processors to perform operations andfunctions associated with operation of the vehicle includingdetermination of the state of one or more objects external to and insidethe vehicle, and comparison of the state of the one or more objects toone or more vehicle carrying capacity criteria associated with thecarrying capacity of the vehicle.

For example, the operations computing system 150 can be configured tomonitor and communicate with the vehicle 104 and/or its users tocoordinate a vehicle service provided by the vehicle 104. To do so, theoperations computing system 150 can manage a database that includes dataincluding vehicle status data associated with the status of vehiclesincluding the vehicle 104. The vehicle status data can include alocation of the plurality of vehicles 102 (e.g., a latitude andlongitude of a vehicle), the availability of a vehicle (e.g., whether avehicle is available to pick-up or drop-off passengers or cargo), or thecarrying capacity of a vehicle (e.g., the mass, weight, or volume, ofpassengers or cargo that a vehicle can carry).

An indication, record, and/or other data indicative of the state of theone or more objects or the carrying capacity of the vehicle 104 can bestored locally in one or more memory devices of the vehicle 104.Additionally, or alternatively, the vehicle 104 can provide dataindicative of the state of the one or more objects or the carryingcapacity of the vehicle 104 to the operations computing system 150,which can store an indication, record, and/or other data indicative ofthe state of the one or more objects or the carrying capacity of thevehicle 104 in one or more memory devices associated with the operationscomputing system 150 (e.g., remote from the vehicle).

The operations computing system 150 can communicate with the vehicle 104via one or more communications networks including the communicationsnetwork 140. The communications network 140 can exchange (send orreceive) signals (e.g., electronic signals) or data (e.g., data from acomputing device) and include any combination of various wired (e.g.,twisted pair cable) and/or wireless communication mechanisms (e.g.,cellular, wireless, satellite, microwave, and radio frequency) and/orany desired network topology (or topologies). For example, thecommunications network 140 can include a local area network (e.g.intranet), wide area network (e.g. Internet), wireless LAN network(e.g., via Wi-Fi), cellular network, a SATCOM network, VHF network, a HFnetwork, a WiMAX based network, and/or any other suitable communicationsnetwork (or combination thereof) for transmitting data to and/or fromthe vehicle 104.

The vehicle 104 can be a ground-based vehicle (e.g., an automobile), anaircraft, and/or another type of vehicle. The vehicle 104 can be anautonomous vehicle that can drive, navigate, operate, etc. with minimaland/or no interaction from a human driver. The autonomous vehicle 104can be configured to operate in one or more modes such as, for example,a fully autonomous operational mode, a semi-autonomous operational mode,a park mode, a sleep mode, etc. A fully autonomous (e.g., self-driving)operational mode can be one in which the vehicle 104 can provide drivingand navigational operation with minimal and/or no interaction from ahuman driver present in the vehicle. A semi-autonomous operational modecan be one in which the vehicle 104 can operate with some interactionfrom a human driver present in the vehicle. Park and/or sleep modes canbe used between operational modes while the vehicle 104 waits to providea subsequent vehicle service, recharges between operational modes, etc.

The vehicle 104 can include a vehicle computing system 108. The vehiclecomputing system 108 can include various components for performingvarious operations and functions. For example, the vehicle computingsystem 108 can include one or more computing devices 110 on-board thevehicle 104. The one or more computing devices 110 can include one ormore processors and one or more memory devices, each of which areon-board the vehicle 104. The one or more memory devices can storeinstructions that when executed by the one or more processors cause theone or more processors to perform operations and functions, such asthose taking the vehicle 104 out-of-service, stopping the motion of thevehicle 104, determining the carrying capacity of the vehicle 104, orgenerating indications associated with the loading or unloading ofpassengers or cargo to the vehicle 104, as described herein.

The one or more computing devices 110 can implement, include, and/orotherwise be associated with various other systems on-board the vehicle104. The one or more computing devices 110 can be configured tocommunicate with these other on-board systems of the vehicle 104. Forinstance, the one or more computing devices 110 can be configured tocommunicate with one or more data acquisition systems 112, an autonomysystem 114 (e.g., including a navigation system), one or more controlsystems 116, one or more human machine interface systems 118, othervehicle systems 120, and/or a communications system 122. The one or morecomputing devices 110 can be configured to communicate with thesesystems via a network 124. The network 124 can include one or more databuses (e.g., controller area network (CAN)), on-board diagnosticsconnector (e.g., OBD-II), and/or a combination of wired and/or wirelesscommunication links. The one or more computing devices 110 and/or theother on-board systems can send and/or receive data, messages, signals,etc. amongst one another via the network 124.

The one or more data acquisition systems 112 can include various devicesconfigured to acquire data associated with the vehicle 104. This caninclude data associated with one or more of the vehicle's systems (e.g.,health data), the vehicle's interior, the vehicle's exterior, thevehicle's surroundings, the vehicle users, etc. The one or more dataacquisition systems 112 can include, for example, one or more imagecapture devices 126. The one or more image capture devices 126 caninclude one or more cameras, LIDAR systems), two-dimensional imagecapture devices, three-dimensional image capture devices, static imagecapture devices, dynamic (e.g., rotating) image capture devices, videocapture devices (e.g., video recorders), lane detectors, scanners,optical readers, electric eyes, and/or other suitable types of imagecapture devices. The one or more image capture devices 126 can belocated in the interior and/or on the exterior of the vehicle 104. Theone or more image capture devices 126 can be configured to acquire imagedata to be used for operation of the vehicle 104 in an autonomous mode.For example, the one or more image capture devices 126 can acquire imagedata to allow the vehicle 104 to implement one or more machine visiontechniques (e.g., to detect objects in the surrounding environment).

Additionally, or alternatively, the one or more data acquisition systems112 can include one or more sensors 128. The one or more sensors 128 caninclude impact sensors, motion sensors, pressure sensors, mass sensors,weight sensors, volume sensors (e.g., sensors that can determine thevolume of an object in liters), temperature sensors, humidity sensors,RADAR, sonar, radios, medium-range and long-range sensors (e.g., forobtaining information associated with the vehicle's surroundings),global positioning system (GPS) equipment, proximity sensors, and/or anyother types of sensors for obtaining data indicative of parametersassociated with the vehicle 104 and/or relevant to the operation of thevehicle 104. The one or more data acquisition systems 112 can includethe one or more sensors 128 dedicated to obtaining data associated witha particular aspect of the vehicle 104, such as, the vehicle's fueltank, engine, oil compartment, wipers, etc. The one or more sensors 128can also, or alternatively, include sensors associated with one or moremechanical and/or electrical components of the vehicle 104. For example,the one or more sensors 128 can be configured to detect whether avehicle door, trunk, gas cap, etc. is in an open or closed position. Insome implementations, the data acquired by the one or more sensors 128can help detect other vehicles and/or objects, road conditions (e.g.,curves, potholes, dips, bumps, changes in grade), measure a distancebetween the vehicle 104 and other vehicles and/or objects, etc.

The vehicle computing system 108 can also be configured to obtain mapdata. For instance, a computing device of the vehicle (e.g., within theautonomy system 114) can be configured to receive map data from one ormore remote computing device including the operations computing system150 or the one or more remote computing devices 130 (e.g., associatedwith a geographic mapping service provider). The map data can includeany combination of two-dimensional or three-dimensional geographic mapdata associated with the area in which the vehicle was, is, or will betravelling.

The data acquired from the one or more data acquisition systems 112, themap data, and/or other data can be stored in one or more memory deviceson-board the vehicle 104. The on-board memory devices can have limitedstorage capacity. As such, the data stored in the one or more memorydevices may need to be periodically removed, deleted, and/or downloadedto another memory device (e.g., a database of the service provider). Theone or more computing devices 110 can be configured to monitor thememory devices, and/or otherwise communicate with an associatedprocessor, to determine how much available data storage is in the one ormore memory devices. Additionally, or alternatively, one or more of theother on-board systems (e.g., the autonomy system 114) can be configuredto access the data stored in the one or more memory devices.

The autonomy system 114 can be configured to allow the vehicle 104 tooperate in an autonomous mode. For instance, the autonomy system 114 canobtain the data associated with the vehicle 104 (e.g., acquired by theone or more data acquisition systems 112). The autonomy system 114 canalso obtain the map data. The autonomy system 114 can control variousfunctions of the vehicle 104 based, at least in part, on the acquireddata associated with the vehicle 104 and/or the map data to implementthe autonomous mode. For example, the autonomy system 114 can includevarious models to perceive road features, signage, and/or objects,people, animals, etc. based on the data acquired by the one or more dataacquisition systems 112, map data, and/or other data. In someimplementations, the autonomy system 114 can include machine-learnedmodels that use the data acquired by the one or more data acquisitionsystems 112, the map data, and/or other data to help operate theautonomous vehicle. Moreover, the acquired data can help detect othervehicles and/or objects, road conditions (e.g., curves, potholes, dips,bumps, changes in grade, or the like), measure a distance between thevehicle 104 and other vehicles or objects, etc. The autonomy system 114can be configured to predict the position and/or movement (or lackthereof) of such elements (e.g., using one or more odometry techniques).The autonomy system 114 can be configured to plan the motion of thevehicle 104 based, at least in part, on such predictions. The autonomysystem 114 can implement the planned motion to appropriately navigatethe vehicle 104 with minimal or no human intervention. For instance, theautonomy system 114 can include a navigation system configured to directthe vehicle 104 to a destination location. The autonomy system 114 canregulate vehicle speed, acceleration, deceleration, steering, and/oroperation of other components to operate in an autonomous mode to travelto such a destination location.

The autonomy system 114 can determine a position and/or route for thevehicle 104 in real-time and/or near real-time. For instance, usingacquired data, the autonomy system 114 can calculate one or moredifferent potential routes (e.g., every fraction of a second). Theautonomy system 114 can then select which route to take and cause thevehicle 104 to navigate accordingly. By way of example, the autonomysystem 114 can calculate one or more different straight paths (e.g.,including some in different parts of a current lane), one or morelane-change paths, one or more turning paths, and/or one or morestopping paths. The vehicle 104 can select a path based, at last inpart, on acquired data, current traffic factors, travelling conditionsassociated with the vehicle 104, etc. In some implementations, differentweights can be applied to different criteria when selecting a path. Onceselected, the autonomy system 114 can cause the vehicle 104 to travelaccording to the selected path.

The one or more control systems 116 of the vehicle 104 can be configuredto control one or more aspects of the vehicle 104. For example, the oneor more control systems 116 can control one or more access points of thevehicle 104. The one or more access points can include features such asthe vehicle's door locks, trunk lock, hood lock, fuel tank access,latches, and/or other mechanical access features that can be adjustedbetween one or more states, positions, locations, etc. For example, theone or more control systems 116 can be configured to control an accesspoint (e.g., door lock) to adjust the access point between a first state(e.g., lock position) and a second state (e.g., unlocked position).Additionally, or alternatively, the one or more control systems 116 canbe configured to control one or more other electrical features of thevehicle 104 that can be adjusted between one or more states. Forexample, the one or more control systems 116 can be configured tocontrol one or more electrical features (e.g., hazard lights,microphone) to adjust the feature between a first state (e.g., off) anda second state (e.g., on).

The one or more human machine interface systems 118 can be configured toallow interaction between a user (e.g., human), the vehicle 104 (e.g.,the vehicle computing system 108), and/or a third party (e.g., anoperator associated with the service provider). The one or more humanmachine interface systems 118 can include a variety of interfaces forthe user to input and/or receive information from the vehicle computingsystem 108. For example, the one or more human machine interface systems118 can include a graphical user interface, direct manipulationinterface, web-based user interface, touch user interface, attentiveuser interface, conversational and/or voice interfaces (e.g., via textmessages, chatter robot), conversational interface agent, interactivevoice response (IVR) system, gesture interface, and/or other types ofinterfaces. The one or more human machine interface systems 118 caninclude one or more input devices (e.g., touchscreens, keypad, touchpad,knobs, buttons, sliders, switches, mouse, gyroscope, microphone, otherhardware interfaces) configured to receive user input. The one or morehuman machine interfaces 118 can also include one or more output devices(e.g., display devices, speakers, lights) to receive and output dataassociated with the interfaces.

The other vehicle systems 120 can be configured to control and/ormonitor other aspects of the vehicle 104. For instance, the othervehicle systems 120 can include software update monitors, an enginecontrol unit, transmission control unit, the on-board memory devices,etc. The one or more computing devices 110 can be configured tocommunicate with the other vehicle systems 120 to receive data and/or tosend to one or more signals. By way of example, the software updatemonitors can provide, to the one or more computing devices 110, dataindicative of a current status of the software running on one or more ofthe on-board systems and/or whether the respective system requires asoftware update.

The communications system 122 can be configured to allow the vehiclecomputing system 108 (and its one or more computing devices 110) tocommunicate with other computing devices. In some implementations, thevehicle computing system 108 can use the communications system 122 tocommunicate with one or more user devices over the networks. In someimplementations, the communications system 122 can allow the one or morecomputing devices 110 to communicate with one or more of the systemson-board the vehicle 104. The vehicle computing system 108 can use thecommunications system 122 to communicate with the operations computingsystem 150 and/or the one or more remote computing devices 130 over thenetworks (e.g., via one or more wireless signal connections). Thecommunications system 122 can include any suitable components forinterfacing with one or more networks, including for example,transmitters, receivers, ports, controllers, antennas, or other suitablecomponents that can help facilitate communication with one or moreremote computing devices that are remote from the vehicle 104.

In some implementations, the one or more computing devices 110 on-boardthe vehicle 104 can obtain vehicle data indicative of one or moreparameters associated with the vehicle 104. The one or more parameterscan include information, such as health and maintenance information,associated with the vehicle 104, the vehicle computing system 108, oneor more of the on-board systems, etc. For example, the one or moreparameters can include fuel level, engine conditions, tire pressure,conditions associated with the vehicle's interior, conditions associatedwith the vehicle's exterior, mileage, time until next maintenance, timesince last maintenance, available data storage in the on-board memorydevices, a charge level of an energy storage device in the vehicle 104,current software status, needed software updates, and/or other heath andmaintenance data of the vehicle 104.

At least a portion of the vehicle data indicative of the parameters canbe provided via one or more of the systems on-board the vehicle 104. Theone or more computing devices 110 can be configured to request thevehicle data from the on-board systems on a scheduled and/or as-neededbasis. In some implementations, one or more of the on-board systems canbe configured to provide vehicle data indicative of one or moreparameters to the one or more computing devices 110 (e.g., periodically,continuously, as-needed, as requested). By way of example, the one ormore data acquisitions systems 112 can provide a parameter indicative ofthe vehicle's fuel level and/or the charge level in a vehicle energystorage device. In some implementations, one or more of the parameterscan be indicative of user input. For example, the one or more humanmachine interfaces 118 can receive user input (e.g., via a userinterface displayed on a display device in the vehicle's interior). Theone or more human machine interfaces 118 can provide data indicative ofthe user input to the one or more computing devices 110. In someimplementations, the one or more computing devices 130 can receive inputand can provide data indicative of the user input to the one or morecomputing devices 110. The one or more computing devices 110 can obtainthe data indicative of the user input from the one or more computingdevices 130 (e.g., via a wireless communication).

The one or more computing devices 110 can be configured to determine thestate of the vehicle 104 and the environment around the vehicle 104including the state of one or more objects including passengers (e.g.,individuals inside the vehicle or waiting to enter the vehicle) andcargo including articles of perishable cargo or non-perishable cargo.Further, the one or more computing devices 110 can be configured todetermine physical properties of the one or more objects including themass, weight, volume, density, or shape of the one or more objects. Theone or more computing devices 110 can compare values associated with thephysical properties of the one or more objects, to a set of one or morevalues associated with the vehicle 104 including a carrying capacityvalue associated with the amount of mass, weight, or volume that thevehicle 104 can carry.

FIG. 2 depicts a diagram of an environment 200 including an example ofidentity determination by a vehicle control system according to exampleembodiments of the present disclosure. The environment 200 illustrates alane marker 210, a pedestrian area 212, a loading location 214, avehicle 220, a vehicle entrance 222, a vehicle control system 224, apedestrian 230, 232, and 234.

In the environment 200, the vehicle 220 is parked (e.g., stationary) ina loading location 214, parallel to the lane marker 210, and adjacent tothe pedestrian area 212 (e.g., a sidewalk). The loading location 214 isa location to which the vehicle 220 will travel and park so that it canpick-up or drop off one or more objects including a passenger or cargo.The loading location 214 can be communicated to the vehicle 220 by aremote computing device (not shown) via a network (e.g., a wirelessnetwork) and can include location data which can include geographiccoordinates or other information associated with the environment orsurroundings at which the vehicle 220 will pick-up or deliver the one ormore objects.

The vehicle control system can include one or more sensors that candetect the presence of pedestrians including the pedestrian 230, 232,and 234. For example, a combination of motion sensors and cameras in thevehicle control system 224 can detect and capture one or more images ofthe pedestrians. Based on the one or more images captured by the vehiclecontrol system 224, the vehicle 220 can determine (e.g., through the useof facial recognition) that pedestrian 232 and pedestrian 234 arepassengers that will be permitted to access the vehicle via the entrance222 (e.g., a door) and that the pedestrian 230 is not a passenger andwill not be permitted to access the vehicle via the entrance 222.

Based on the determination of by the vehicle 220, that the pedestrian232 and the pedestrian 234 are passengers, the vehicle can allow accessto the vehicle 220 by unlocking or opening the entrance 222 to allow thepedestrian 232 and the pedestrian 234 to enter the vehicle 220. In someimplementations, the vehicle 220 can provide pedestrians with cues(e.g., audio cues including spoken instructions or visual cues includingwritten instructions) to indicate that the vehicle 220 is picking up ordropping off passengers or cargo. Further, the vehicle 220 can generateinstructions to indicate to passengers that access to the vehicle 220 isallowed and can indicate to non-passengers that access to the vehicle220 is not allowed. The vehicle 220 can reduce its available carryingcapacity based on the determined mass or volume of the pedestrian 232and 234.

Based on the determination that the pedestrian 232 and 234 will enterinto the vehicle 220, the vehicle 220 can modify available vehiclecarrying capacity data associated with the available carrying capacityof the vehicle 220 (e.g., how much additional mass or volume the vehicle220 can carry). The modification of the available vehicle carryingcapacity data can include reducing an available vehicle carryingcapacity value based on the mass or volume occupied by the twopassengers (e.g., pedestrian 232 and 234).

FIG. 3 depicts a diagram of an environment 300 including an example ofactivating a vehicle access system according to example embodiments ofthe present disclosure. The environment 300 illustrates a lane marker310, a pedestrian area 312, a loading location 314, a vehicle 320, avehicle entrance 322, a vehicle access system 324, a pedestrian 330,332, and 334; and a food container 340.

In the environment 300, the vehicle 320 has come to a stop in a loadinglocation 314, parallel to the lane marker 310, and adjacent to thepedestrian area 312 (e.g., a sidewalk). The loading location 314 is alocation to which the vehicle 320 will travel and park so that it canpick-up or drop off one or more objects including a passenger or cargo.The loading location 314 can be communicated to the vehicle 320 by aremote computing device (not shown) via a network (e.g., a wirelessnetwork) and includes location data such as geographic coordinates orother information associated with the passengers or cargo that thevehicle 320 will pick-up or deliver at the loading location 314.

The vehicle access system 324 can include one or more sensors that candetect the presence of pedestrians including the pedestrian 330, 332,and 334. For example, a combination of motion sensors and cameras in thevehicle access system 324 can detect and capture one or more images ofthe pedestrians. Based on the one or more images captured by the vehicleaccess system 324, the vehicle 320 can determine (e.g., through the useof facial recognition) that pedestrian 330 and pedestrian 332 arepassengers that will be permitted to access the vehicle via the entrance322 (e.g., a door) and that the pedestrian 334 is not a passenger andwill not be permitted to access the vehicle via the entrance 322.Accordingly, the vehicle access system 324 can generate instructions forthe pedestrian 332 to sit further away from the food container 340 thanpedestrian 330.

Further, the vehicle 330 determines based on the passenger informationincluded in the location data that pedestrian 330 is delivering severalhot food items in a food container 340. Based on the determination thatthe pedestrian 330 is carrying hot food items, the vehicle 320 canmodify available vehicle carrying capacity data associated with theavailable carrying capacity of the vehicle 320 (e.g., how muchadditional mass or volume the vehicle 320 can carry). The modificationof the available vehicle carrying capacity data can include reducing anavailable vehicle carrying capacity value based on the volume occupiedby the two passengers (e.g., pedestrian 330 and 332) and the volume ofthe food container 340 carrying the hot food items.

FIG. 4 depicts a diagram of an environment 400 including an example ofdetermining an order of ingress or egress according to exampleembodiments of the present disclosure. The environment 400 illustrates alane marker 410, a pedestrian area 412, a vehicle 420, a vehiclenotification system 422, a pedestrian 430, 432, 434, 436, and 438, aseating area 442, 444, 446, 448, a passenger path 452, and a passengerpath 454.

In the environment 400, the vehicle 420 (e.g., an autonomous vehicle)has a compartment (e.g., a passenger or cargo cabin) that includesseating area 442, 444, 446, and 448, in which one or more objects (e.g.,passengers or cargo) can be seated or placed. Seating area 446 isoccupied by pedestrian 436 and seating area 448 is occupied bypedestrian 438. Seating area 442 and seating area 444 are vacant (notoccupied by a passenger or cargo). The vehicle 420 can determine anorder in which the one or more objects can enter or exit the vehicle420. The order in which the one or more objects can enter or exit thevehicle can be based on the position of the vehicle 420 in relation toone or more objects including the lane marker 410, the pedestrian area412, and the pedestrian 430, 432, 434, 436, and 438.

In this example, pedestrian 438 and 438 are seated and were in thevehicle 420 after previously being picked up at another location. Basedon output from one or more sensors (not shown), the vehicle 420 candetermine that pedestrian 432 is a child and that pedestrian 434 is anadult. To facilitate safe and efficient entry into the vehicle, thevehicle notification system 422 can generate instructions indicatingthat pedestrian 432 should enter the vehicle before pedestrian 434(e.g., pedestrian 434 can assist in the seating of pedestrian 432 intothe vehicle 420). The vehicle 420 can modify available vehicle carryingcapacity data associated with the available carrying capacity of thevehicle 420. The modification to the available vehicle carrying capacitydata can include reducing an available vehicle carrying capacity valueto indicate that the available carrying capacity of the vehicle has beenreduced based on the added mass and volume of the pedestrian 432 and434.

Further, the vehicle 420 can determine that pedestrian 438 has arrivedat his drop-off location and that pedestrian 430 is not a scheduledpassenger. The vehicle 420 can generate an indication (e.g., an audioinstruction) to inform pedestrian 438 that he has arrived at hisdrop-off location and that he can leave the vehicle 420. The vehicle 420can adjust the available vehicle carrying capacity data based on themass and volume that is no longer taken up by pedestrian 438.

FIG. 5 depicts a flow diagram of an example method 500 of capacity basedautonomous vehicle operation according to example embodiments of thepresent disclosure. One or more portions of the method 500 can beimplemented by one or more devices (e.g., one or more computing devices)or systems including, for example, the vehicle 104, the vehiclecomputing system 108, or the operations computing system 150, shown inFIG. 1. Moreover, one or more portions of the method 500 can beimplemented as an algorithm on the hardware components of the devicesdescribed herein (e.g., as in FIG. 1) to, for example, determine avehicle carrying capacity. FIG. 5 depicts elements performed in aparticular order for purposes of illustration and discussion. Those ofordinary skill in the art, using the disclosures provided herein, willunderstand that the elements of any of the methods discussed herein canbe adapted, rearranged, expanded, omitted, combined, and/or modified invarious ways without deviating from the scope of the present disclosure.

At 502 the method 500 can include receiving output (e.g., electronicsignals including data) from an output source including a vehicleincluding an autonomous vehicle; one or more components of a vehicleincluding one or more sensors of an autonomous vehicle, or one or moreremote computing devices (e.g., mobile computing devices including smartphones). The output can include sensor output from one or more sensors(e.g., optical sensors) or access output from a vehicle access system(e.g., a computing device that controls access or entry to the vehicle).

The sensor output can include sensor signals or sensor data based on thestate or condition of the vehicle (e.g., the state of the autonomousvehicle) or the environment external to the vehicle, including the stateor condition of one or more objects (e.g., passengers, cargo, orbuildings) in the environment external to the vehicle. For example, thesensor signals or the sensor data can be associated with one or moreobjects (e.g., passengers or cargo) including the size, number, andphysical state or characteristics (e.g., mass, weight, volume, ortemperature) of the one or more objects in the environment within athreshold distance of the vehicle.

In some implementations, the one or more sensors can be located on anexterior of the vehicle (e.g., on the hood, roof, or door exteriors ofthe autonomous vehicle) or an interior of the vehicle (e.g., within theautonomous vehicle passenger compartment, the chassis of the autonomousvehicle, or the engine) and can include an optical sensor (e.g., acamera or LIDAR); an audio sensor (e.g., a microphone); a tactile sensor(e.g., a pressure sensor or a piezoresistive sensor); a temperaturesensor (e.g., a thermometer); or an electromagnetic sensor (e.g., acapacitive sensor or piezoelectric sensor).

The access output from the vehicle access system can include accessoutput signals (e.g., electric signals) or access output data which caninclude signals or data that is used to control access to some portionof the vehicle (e.g., a passcode that is used to lock or unlock anentrance of the autonomous vehicle, the entrance including a door,window, or trunk). The access output signals or access output data canbe encrypted and can be received from the vehicle access system whichcan exchange (send or receive) data with one or more remote computingsystems (e.g., mobile computing devices of vehicle passengers or remoteserver computing devices).

In some implementations, the vehicle access system may be accessed by adevice, including a pass card or a pass key, that may be used to gainaccess to some portion of the vehicle (e.g., autonomous vehicle) throughphysical contact (e.g., inserting a key to unlock an entrance of theautonomous vehicle) or contactless interaction (e.g., wirelesslytransmitting a passcode to unlock an entrance of the autonomousvehicle).

At 504 the method 500 can include receiving capacity adjustment data.The capacity adjustment data can include data that is used to adjust ormodify the carrying capacity of the vehicle. The carrying capacity ofthe vehicle can be based on any state, property (e.g., measurableproperty), or condition of the one or more objects including the amountor quantity of the one or more objects that the vehicle can carry, bear,or transport. For example, the carrying capacity can include a number ofthe one or more objects (e.g., a number of passengers or articles ofcargo); or a quantity associated with the one or more objects (e.g., amass, weight, volume, or density of the one or more objects).

Further, the capacity adjustment data can include data associated withfactors that can effect or modify the carrying capacity of the vehicle.For example, the capacity adjustment data can include data associatedwith a route for the vehicle (e.g., autonomous vehicle) to travel (e.g.,a route for a cargo vehicle through a cargo vehicle weighing station mayaffect the carrying capacity of the cargo vehicle); topographicalconditions (e.g., a route that passes through very hilly terrain canreduce carrying capacity); road conditions (e.g., a dirt road or aheavily pitted road may reduce carrying capacity); or weather conditions(e.g., snow covered or rain slickened roads can reduce carryingcapacity).

At 506 the method 500 can include modifying one or more vehicle capacitycriteria based on the capacity adjustment data. The one or more vehiclecapacity criteria can be associated with one or more features orcharacteristics of the one or more objects and can include one or morecriteria that the carrying capacity of the vehicle is based on. The oneor more vehicle capacity criteria can include one or more capacitycriteria values (e.g., threshold values) that can, individually or incombination, represent the carrying capacity of the vehicle. Modifyingthe one or more vehicle capacity criteria can include increasing ordecreasing the one or more capacity criteria values associated with theone or more vehicle capacity criteria. For example, a vehicle with acarrying capacity value of 800 kilograms (800 kg) could have thecarrying capacity value decreased (i.e., modified downwards) byone-hundred kilograms (100 kg) to a value of seven-hundred kilograms(700 kg) based on capacity adjustment data that indicates the vehicleroute will traverse hilly terrain during a snow-storm.

At 508 the method 500 can include receiving object data from a sourceincluding the vehicle (e.g., an autonomous vehicle), one or morecomponents of a vehicle (e.g., one or more sensors of the autonomousvehicle), or one or more remote computing devices (e.g., mobilecomputing devices including wearable devices). The object data can bebased in part on the one or more states, conditions, or characteristicsof the one or more objects and can include or be associated with thesensor output (e.g., sensor data) or the access output (e.g., accessoutput data). The state or condition of the one or more objects caninclude a physical state, condition, or characteristic of the one ormore objects (e.g., mass, weight, size, based on output from one or moresensors); or an identifying state, condition, or characteristicassociated with the one or more objects including an object identifier(e.g., a personal name or the serial number of an article of cargo) oran object classification (e.g., classifying an object as a passenger orclassifying cargo as perishable or non-perishable).

At 510 the method 500 can include determining, based in part on theobject data, one or more features of the one or more objects. The one ormore features of the one or more objects can be based on, or associatedwith, portions or combinations of the object data. For example, adensity feature of the one or more objects can be determined on thebasis of a combination of object data including a mass of an objectbased on mass sensors data of the object data and a volume of the objectbased on optical sensors used to determine the object's volume. Further,the one or more features can be the result of one or more associationsof the object data to feature data associated with the one or moreobjects. For example, the name of a passenger can be determined based onfeature data that includes the name of a passenger associated withobject data including a visual image of the passenger.

In some implementations, the one or more features can include a numberof the one or more objects (e.g., a number of passengers); one or moreidentities of the one or more objects (e.g., the names of passengers); aweight or mass of the one or more objects (e.g., a weight in pounds or amass in kilograms); a distribution throughout the vehicle (e.g.,autonomous vehicle) of the weight or mass of the one or more objects; avolume of the one or more objects, an electrostatic capacitance of theone or more objects; a texture of the one or more objects (e.g., thesharpness, roughness, or smoothness of an object); or a shape of the oneor more objects.

At 512 the method 500 can include, determining whether, or that, the oneor more objects satisfy the one or more vehicle capacity criteria. Thedetermination of whether, or determining that, the one or more objectssatisfy the one or more vehicle capacity criteria can be based on acomparison of the one or more features of the one or more objects to oneor more vehicle capacity criteria. The comparison of the one or morefeatures can include a comparison of one or more portions of featuredata associated to vehicle capacity criteria data associated with theone or more vehicle capacity criteria. For example, the comparison ofthe one or more features can include a determination of whether one ormore feature values associated with the one or more features is equalto, less than, or greater than one or more vehicle capacity criteriavalues associated with the one or more vehicle capacity criteria.

In some implementations, the one or more vehicle capacity criteria canbe based in part on a carrying capacity of a vehicle (e.g., anautonomous vehicle). For example, the one or more vehicle capacitycriteria can include a maximum mass criterion of one-thousand kilogramsand a maximum volume criterion of three-thousand liters. In thepreceding example, satisfying the one or more vehicle capacity criteriawould require satisfying both the maximum mass criterion (e.g., a massless than or equal to one-thousand kilograms) and the maximum volumecriterion (e.g., a volume less than or equal to three-thousand liters).

At 514, responsive to determining that the one or more objects satisfythe one or more vehicle capacity criteria, the method 500 continues to516. Responsive to determining that the one or more objects do notsatisfy the one or more vehicle capacity criteria, the method 500 canreturn to 502 or end.

At 516 the method 500 can include performance of one or more actionsincluding activating one or more control systems associated withoperation of the vehicle (e.g., autonomous vehicle). Activating the oneor more control systems can include activating control systems that canmodify access to the vehicle (e.g., locking or unlocking vehicle doors);or adjust the carrying capacity of the vehicle (e.g., moving or foldingdown seats to provide space for cargo).

For example, activating the one or more control systems can includeactivating any of a vehicle access system (e.g., a system that controlsaccess to portions of the vehicle including the passenger compartment);a vehicle notification system (e.g., a system that provides visual,auditory, or haptic notifications to one or more passengers of thevehicle); a vehicle communication system (e.g., a system thatcommunicates with one or more devices including remote computingsystems); a vehicle suspension system (e.g., a system that controls theshock absorbers and other suspension systems of the vehicle); or avehicle propulsion system (e.g., a system that controls movement of thevehicle).

FIG. 6 depicts a flow diagram of an example method 600 of capacity basedautonomous vehicle operation according to example embodiments of thepresent disclosure. One or more portions of the method 600 can beimplemented by one or more devices (e.g., one or more computing devices)or systems including, for example, the vehicle 104, the vehiclecomputing system 108, or the operations computing system 150, shown inFIG. 1. Moreover, one or more portions of the method 600 can beimplemented as an algorithm on the hardware components of the devicesdescribed herein (e.g., as in FIG. 1) to, for example, determine avehicle carrying capacity. FIG. 6 depicts elements performed in aparticular order for purposes of illustration and discussion. Those ofordinary skill in the art, using the disclosures provided herein, willunderstand that the elements of any of the methods discussed herein canbe adapted, rearranged, expanded, omitted, combined, and/or modified invarious ways without deviating from the scope of the present disclosure.

At 602 the method 600 can include activating a vehicle access system(e.g., the vehicle access system in method 500) which can include,determining whether, or determining that, a spatial relationship betweenone or more objects, an entrance to a vehicle (e.g., an autonomousvehicle), or a loading location external to the vehicle, satisfies oneor more access criteria. The one or more objects can include passengersor cargo; the entrance to the vehicle can include a door, window, ortrunk of the vehicle; and a loading location external to the vehicle caninclude an area in which the vehicle (e.g., autonomous vehicle) canpick-up or drop off the one or more objects (e.g., an area on a road ora loading bay in factory).

The spatial relationship can include a relationship based on anycombination of a size, area, or volume of the one or more objects, theentrance of the vehicle (e.g., autonomous vehicle), or the loadinglocation; or a distance between the one or more objects, the entrance ofthe vehicle (e.g., autonomous vehicle), or the loading location. Forexample, the spatial relationship can include a distance between apassenger from the door of a vehicle (e.g., autonomous vehicle); thecross-sectional area of a package in relation to the area of a doorwayof the vehicle (e.g., autonomous vehicle); or a distance between two ormore passengers.

In some implementations, the spatial relationship can be based onvarious data including output (e.g., sensor data) from one or moresensors of the vehicle including an autonomous vehicle (e.g., opticalsensors or LIDAR), or spatial relationship data from a remote computingdevice (e.g., a dispatch center computing device sending an indicationof the physical dimensions of a package to be loaded onto the autonomousvehicle).

The one or more access criteria can include the one or more vehiclecapacity criteria and can be based on physical properties or attributesof the relationship between the one or more objects, the entrance of thevehicle (e.g., autonomous vehicle), or the loading location, includingany combination of a size, area, or volume of the one or more objects,the entrance of the vehicle (e.g., autonomous vehicle), or the loadinglocation; or a distance between the one or more objects, the entrance ofthe vehicle (e.g., autonomous vehicle), or the loading location.

In some implementations, the one or more access criteria can be based inpart on a threshold distance between the entrance and the loadinglocation including a minimum distance, a maximum distance, or a distancerange that is used as part of the one or more access criteria (e.g., adistance between an entrance, such as a trunk door, and a loadinglocation, such as the curb of a sidewalk); a threshold distanceincluding a minimum distance, a maximum distance, or a distance range,between the entrance and the one or more objects (e.g., a distancebetween an entrance, such as a door, and an object such as a passenger);or an orientation of the entrance relative to the loading location(e.g., an entrance such as a door being oriented parallel to, andfacing, the curb of a sidewalk).

At 604 the method 600, responsive to determining that the spatialrelationship satisfies the one or more access criteria, continues to606. Responsive to determining that the spatial relationship does notsatisfy the one or more access criteria, the method 600 can return to602 or end.

At 606 the method 600 can modify access to the vehicle (e.g., autonomousvehicle). Modifying access to the vehicle (e.g., autonomous vehicle) caninclude various actions including activating or deactivating vehiclecontrol systems that control ingress (e.g., entry or placement of anobject into the vehicle) or egress (e.g., exit or removal of an objectfrom the vehicle) of the one or more objects to or from the vehicle(e.g., autonomous vehicle).

For example, modifying access to the vehicle (e.g., autonomous vehicle)can include locking an entrance to the vehicle (e.g., autonomousvehicle) including activating a locking mechanism on a door of theautonomous vehicle); unlocking an entrance to the vehicle (e.g.,autonomous vehicle) including deactivating a locking mechanism on atrunk opening of the autonomous vehicle); opening an entrance to thevehicle (e.g., autonomous vehicle) including activating a motor thatopens a door of the vehicle; closing an entrance to the vehicle (e.g.,autonomous vehicle) including activating a motor that opens a window ofthe vehicle; activating a restraint system of the vehicle (e.g.,autonomous vehicle) including activating a cargo or passenger restraintsystem of the vehicle including locking a passenger's seatbelt in thevehicle while the vehicle is in transit; or deactivating a restraintsystem of the vehicle (e.g., autonomous vehicle) including deactivatinga cargo or passenger restraint system of the vehicle including unlockinga passenger's seatbelt in the vehicle when the vehicle has arrived atits destination and come to a halt.

FIG. 7 depicts a flow diagram of an example method 700 of capacity basedautonomous vehicle operation according to example embodiments of thepresent disclosure. One or more portions of the method 700 can beimplemented by one or more devices (e.g., one or more computing devices)or systems including, for example, the vehicle 104, the vehiclecomputing system 108, or the operations computing system 150, shown inFIG. 1. Moreover, one or more portions of the method 700 can beimplemented as an algorithm on the hardware components of the devicesdescribed herein (e.g., as in FIG. 1) to, for example, determine avehicle carrying capacity. FIG. 7 depicts elements performed in aparticular order for purposes of illustration and discussion. Those ofordinary skill in the art, using the disclosures provided herein, willunderstand that the elements of any of the methods discussed herein canbe adapted, rearranged, expanded, omitted, combined, and/or modified invarious ways without deviating from the scope of the present disclosure.

At 702 the method 700 can include activating a vehicle notificationsystem (e.g., the vehicle notification system in method 500), which caninclude, determining, based in part on the one or more features of theone or more objects, one or more identities and corresponding objectlocations of the one or more objects. The one or more identities caninclude any identifying data (e.g., an identifier) associated with theone or more objects including an object name (e.g., the name of aperson) or an object type (e.g., a category of an object such as apassenger type or type of cargo such as perishable cargo ornon-perishable cargo). The corresponding object locations of the one ormore objects can include a geographical location (e.g., latitude andlongitude) or a relative position of the one or more objects (e.g., theposition of the one or more objects relative to a point of referencesuch as the entrance of the vehicle or another one of the one or moreobjects).

At 704 the method 700 can include, determining an order of ingress oregress for the one or more objects. The order of ingress or egress isthe order in which the one or more objects can enter or exit the vehicle(e.g., autonomous vehicle). The order of ingress or egress can includeany combination of the one or more objects entering or exiting thevehicle (e.g., autonomous vehicle). For example, the order of ingress oregress for the one or more objects can include a passenger exiting thevehicle (e.g., autonomous vehicle) followed by cargo being placed on theseat formerly occupied by the passenger; three passengers entering thevehicle from three different doors; or three articles of cargo beingsequentially loaded into the vehicle from a single door.

In some implementations, the order of ingress or egress can bedetermined based on the one or more identities and the correspondingobject locations. For example, the order of ingress or egress can bedetermined based on the location of passengers and cargo in the vehicle(e.g., autonomous vehicle) such that passengers are scheduled to exitthe vehicle before cargo is removed from the vehicle. Further, by way ofexample, order of ingress or egress for passengers can be based on theirproximity to an entrance of the vehicle.

At 706 the method 700 can include, generating one or more placementindications including instructions for directing movement of the one ormore objects to one or more assigned locations in the vehicle (e.g.,autonomous vehicle). Generation of the one or more placement indicationscan be based in part on one or more object placement criteria (e.g., hotfood items like pizza are not placed next to cold food items likeice-cream); the one or more identities of the one or more objectsincluding the names of passengers; and the corresponding objectlocations including the object locations of the one or more objectswithin the vehicle (e.g., the seating position of passengers within thevehicle).

The one or more placement indications can include any combination ofwritten instructions (e.g., written instructions displayed on a displaydevice on the interior or the exterior of the autonomous vehicle),symbolic instructions (e.g., arrows or other symbols displayed on aportion of the autonomous vehicle), or auditory instructions (e.g.,audio instructions generated by a loudspeaker in, or on, the vehicle).In some implementations, the one or more object placement criteria canbe based in part on the order of ingress or egress for the one or moreobjects (e.g., cargo that is due to be unloaded second is positioned notto block access to cargo that is due to be unloaded second).

FIG. 8 depicts an example system 800 according to example embodiments ofthe present disclosure. The system 800 can include a vehicle computingsystem 808 which can include some or all of the features of the vehiclecomputing system 108 depicted in FIG. 1; one or more computing devices810 which can include some or all of the features of the one or morecomputing devices 110; a communication interface 812; one or moreprocessors 814; one or more memory devices 820; memory system 822;memory system 824; one or more input devices 826; one or more outputdevices 828; one or more computing devices 830 which can include some orall of the features of the one or more computing devices 130 depicted inFIG. 1; one or more input devices 832; one or more output devices 834; anetwork 840 which can include some or all of the features of the network140 depicted in FIG. 1; and an operations computing system 850 which caninclude some or all of the features of the operations computing system150 depicted in FIG. 1.

The vehicle computing system 808 can include the one or more computingdevices 810. The one or more computing devices 810 can include one ormore processors 814 which can be included on-board a vehicle includingthe vehicle 104 and one or more memory devices 820 which can be includedon-board a vehicle including the vehicle 104. The one or more processors814 can be any suitable processing device such as a microprocessor,microcontroller, integrated circuit, an application specific integratedcircuit (ASIC), a digital signal processor (DSP), a field-programmablegate array (FPGA), logic device, one or more central processing units(CPUs), graphics processing units (GPUs), processing units performingother specialized calculations, etc. The one or more processors 814 caninclude a single processor or a plurality of processors that areoperatively and/or selectively connected. The one or more memory devices820 can include one or more non-transitory computer-readable storagemedia, such as RAM, ROM, EEPROM, EPROM, flash memory devices, magneticdisks, etc., and/or combinations thereof.

The one or more memory devices 820 can store data or information thatcan be accessed by the one or more processors 814. For instance, the oneor more memory devices 820 which can be included on-board a vehicleincluding the vehicle 104, can include a memory system 822 that canstore computer-readable instructions that can be executed by the one ormore processors 814. The memory system 822 can include software writtenin any suitable programming language that can be implemented in hardware(e.g., computing hardware). Further, the memory system 822 can includeinstructions that can be executed in logically and/or virtually separatethreads on the one or more processors 814. The memory system 822 caninclude any set of instructions that when executed by the one or moreprocessors 814 cause the one or more processors 814 to performoperations.

For example, the one or more memory devices 820 which can be includedon-board a vehicle including the vehicle 104 can store instructions,including specialized instructions, that when executed by the one ormore processors 814 on-board the vehicle cause the one or moreprocessors 814 to perform operations such as any of the operations andfunctions of the one or more computing devices 810 or for which the oneor more computing devices 810 are configured, as described herein, theoperations for receiving data (e.g., object data or capacity adjustmentdata), modifying one or more vehicle capacity criteria, determining oneor more features of one or more objects, activating one or more vehiclecontrol systems (e.g., one or more portions of methods 500, 600, or700), or any other operations or functions for capacity based vehicleoperation, as described herein.

The one or more memory devices 820 can include a memory system 824 thatcan store data that can be retrieved, manipulated, created, and/orstored by the one or more computing devices 810. The data stored inmemory system 824 can include, for instance, data associated with avehicle including the vehicle 104, data acquired by the one or more dataacquisition systems 112, map data, data associated with a vehiclecarrying capacity, data associated with user input, data associated withone or more actions and/or control command signals, data associated withusers, and/or other data or information. The data in the memory system824 can be stored in one or more databases. The one or more databasescan be split up so that they are located in multiple locales on-board avehicle which can include the vehicle 104. In some implementations, theone or more computing devices 810 can obtain data from one or morememory devices that are remote from a vehicle which can include thevehicle 104.

The environment 800 can include the network 840 (e.g., a communicationsnetwork) which can be used to exchange (send or receive) signals (e.g.,electronic signals) or data (e.g., data from a computing device)including signals or data exchanged between computing devices includingthe operations computing system 850, the vehicle computing system 808,or the one or more computing devices 830. The network 840 can includeany combination of various wired (e.g., twisted pair cable) and/orwireless communication mechanisms (e.g., cellular, wireless, satellite,microwave, and radio frequency) and/or any desired network topology (ortopologies). For example, the communications network 140 can include alocal area network (e.g. intranet), wide area network (e.g. Internet),wireless LAN network (e.g., via Wi-Fi), cellular network, a SATCOMnetwork, VHF network, a HF network, a WiMAX based network, and/or anyother suitable communications network (or combination thereof) fortransmitting data to and/or from a vehicle including the vehicle 104.

The one or more computing devices 810 can also include communicationinterface 812 used to communicate with one or more other systems whichcan be included on-board a vehicle including the vehicle 104 (e.g., overthe network 840. The communication interface 812 can include anysuitable components for interfacing with one or more networks, includingfor example, transmitters, receivers, ports, controllers, antennas, orother suitable hardware and/or software.

The vehicle computing system 808 can also include one or more inputdevices 826 and/or one or more output devices 828. The one or more inputdevices 826 and/or the one or more output devices 828 can be includedand/or otherwise associated with a human-machine interface system. Theone or more input devices 826 can include, for example, hardware forreceiving information from a user, such as a touch screen, touch pad,mouse, data entry keys, speakers, a microphone suitable for voicerecognition, etc. The one or more output devices 828 can include one ormore display devices (e.g., display screen, CRT, LCD) and/or one or moreaudio output devices (e.g., loudspeakers). The display devices and/orthe audio output devices can be used to facilitate communication with auser. For example, a human operator (e.g., associated with a serviceprovider) can communicate with a current user of a vehicle including thevehicle 104 via at least one of the display devices and the audio outputdevices.

The one or more computing devices 830 can include various types ofcomputing devices. For example, the one or more computing devices 830can include a phone, a smart phone, a tablet, a personal digitalassistant (PDA), a laptop computer, a computerized watch (e.g., a smartwatch), computerized eyewear, computerized headwear, other types ofwearable computing devices, a gaming system, a media player, an e-bookreader, and/or other types of computing devices. The one or morecomputing devices 830 can be associated with a user (e.g., 136). The oneor more computing devices 830 described herein can also berepresentative of a user device that can be included in the humanmachine interface system of a vehicle including the vehicle 104.

The one or more computing devices 830 can include one or more inputdevices 832 and/or one or more output devices 834. The one or more inputdevices 832 can include, for example, hardware for receiving informationfrom a user, such as a touch screen, touch pad, mouse, data entry keys,speakers, a microphone suitable for voice recognition, etc. The one ormore output devices 834 can include hardware for providing content fordisplay. For example, the one or more output devices 834 can include adisplay device (e.g., display screen, CRT, LCD), which can includehardware for a user interface.

The technology discussed herein makes reference to computing devices,databases, software applications, and other computer-based systems, aswell as actions taken and information sent to and from such systems. Oneof ordinary skill in the art will recognize that the inherentflexibility of computer-based systems allows for a great variety ofpossible configurations, combinations, and divisions of tasks andfunctionality between and among components. For instance,computer-implemented processes discussed herein can be implemented usinga single computing device or multiple computing devices working incombination. Databases and applications can be implemented on a singlesystem or distributed across multiple systems. Distributed componentscan operate sequentially or in parallel.

Furthermore, computing tasks discussed herein as being performed atcomputing devices remote from the vehicle (e.g., the operationscomputing system and its associated computing devices) can instead beperformed at the vehicle (e.g., via the vehicle computing system). Suchconfigurations can be implemented without deviating from the scope ofthe present disclosure.

While the present subject matter has been described in detail withrespect to specific example embodiments and methods thereof, it will beappreciated that those skilled in the art, upon attaining anunderstanding of the foregoing can readily produce alterations to,variations of, and equivalents to such embodiments. Accordingly, thescope of the present disclosure is by way of example rather than by wayof limitation, and the subject disclosure does not preclude inclusion ofsuch modifications, variations and/or additions to the present subjectmatter as would be readily apparent to one of ordinary skill in the art.

1-20. (canceled)
 21. A computer-implemented method comprising: receiving, by a computing system comprising one or more computing devices, object data associated with one or more objects external to an autonomous vehicle at a location; determining, by the computing system, one or more features of the one or more objects based in part on the object data; determining, by the computing system, based on a comparison of the one or more features of the one or more objects to one or more vehicle capacity criteria, whether the one or more objects satisfy the one or more vehicle capacity criteria, wherein the one or more vehicle capacity criteria are based in part on a carrying capacity of an autonomous vehicle; responsive to the one or more objects not satisfying the one or more vehicle capacity criteria, activating, by the computing system, a vehicle access system to restrict access to the autonomous vehicle; and sending, by the computing system, a signal to provide another vehicle to the location to accommodate the one or more objects at the location.
 22. The computer-implemented method of claim 21, wherein the one or more features comprise a number of the one or more objects, one or more identities of the one or more objects, a weight of the one or more objects, a volume of the one or more objects, an electrostatic capacitance of the one or more objects, or a shape of the one or more objects.
 23. The computer-implemented method of claim 21, wherein determining whether the one or more objects satisfy the one or more vehicle capacity criteria comprises: determining, by the computing system, a spatial relationship between the one or more objects and an entrance to the autonomous vehicle.
 24. The computer-implemented method of claim 21, wherein the vehicle access system is associated with locking an entrance to the autonomous vehicle.
 25. The computer-implemented method of claim 21, wherein the one or more vehicle carrying capacity criteria comprise a distribution throughout the autonomous vehicle of the mass of the one or more objects or a maximum volume the autonomous vehicle is allowed to carry.
 26. The computer-implemented method of claim 21, wherein the determining whether the one or more objects satisfy the one or more vehicle capacity criteria comprises: comparing, by the computing system, a physical characteristic of the one or more objects to the one or more vehicle capacity criteria.
 27. The computer-implemented method of claim 21, wherein the one or more vehicle capacity criteria are based in part on a weather condition.
 28. The computer-implemented method of claim 21, wherein the one or more objects comprise one or more humans.
 29. One or more tangible, non-transitory computer-readable media storing computer-readable instructions that when executed by one or more processors cause the one or more processors to perform operations, the operations comprising: receiving object data associated with one or more objects external to an autonomous vehicle at a location; determining one or more features of the one or more objects based in part on the object data; determining based on a comparison of the one or more features of the one or more objects to one or more vehicle capacity criteria, whether the one or more objects satisfy the one or more vehicle capacity criteria, wherein the one or more vehicle capacity criteria are based in part on a carrying capacity of an autonomous vehicle; responsive to at least one object of the one or more objects not satisfying the one or more vehicle capacity criteria, activating a vehicle access system to restrict access to the autonomous vehicle; and sending a signal to provide another vehicle to the location to accommodate the at least one object that does not satisfy the one or more vehicle capacity criteria.
 30. The one or more tangible, non-transitory computer-readable media of claim 29, wherein the one or more features comprise a number of the one or more objects, one or more identities of the one or more objects, a weight of the one or more objects, a volume of the one or more objects, an electrostatic capacitance of the one or more objects, or a shape of the one or more objects.
 31. The one or more tangible, non-transitory computer-readable media of claim 29, wherein the vehicle access system is associated with controlling access to a passenger compartment of the autonomous vehicle.
 32. The one or more tangible, non-transitory computer-readable media of claim 31, wherein the autonomous vehicle is to transport the at least one object that does satisfy the one or more vehicle capacity criteria and the other vehicle is to transport the at least one object that does not satisfy the one or more vehicle capacity criteria.
 33. The one or more tangible, non-transitory computer-readable media of claim 29, wherein the location is a pick-up location associated with a vehicle service.
 34. The one or more tangible, non-transitory computer-readable media of claim 33, wherein vehicle service is associated with delivery of an item.
 35. The one or more tangible, non-transitory computer-readable media of claim 34, wherein the item is food.
 36. The one or more tangible, non-transitory computer-readable media of claim 29, wherein the other vehicle is another autonomous vehicle.
 37. An autonomous vehicle comprising: one or more processors; one or more non-transitory computer-readable media storing instructions that when executed by the one or more processors cause the one or more processors to perform operations comprising: receiving object data associated with one or more objects external to an autonomous vehicle at a location; determining one or more features of the one or more objects based in part on the object data; determining based on a comparison of the one or more features of the one or more objects to one or more vehicle capacity criteria, whether the one or more objects satisfy the one or more vehicle capacity criteria, wherein the one or more vehicle capacity criteria are based in part on a carrying capacity of an autonomous vehicle; responsive to at least one object of the one or more objects not satisfying the one or more vehicle capacity criteria, activating a vehicle access system to restrict access to the autonomous vehicle; and sending a signal to provide another vehicle to the location to accommodate the at least one object not satisfying the one or more vehicle capacity criteria.
 38. The autonomous vehicle of claim 37, wherein the one or more vehicle capacity criteria are based in part on a weather condition.
 39. The autonomous vehicle of claim 37, wherein the one or more features comprise a temperature.
 40. The autonomous vehicle of claim 37, wherein the one or more objects comprise one or more food items. 